After decompression and unpacking, put the directory toolbox at a place
of your choice. Start up Matlab from
toolbox or set toolbox
as the current working directory. Then execute the initialization script
inittoolbox.m by typing
inittoolbox (without the
The script adds all toolbox-related paths and reads in a lookup table.
This has to be done only once per Matlab session.
If the command window is cleared and the initialization script terminates by
inittoolbox: Paths added, lookup table in memory, you are ready to go.
Remember that you can always type help filename (without the
.m extension) to obtain the help text of a file and
help directoryname to get the first lines of all m-files in a
directory. As method names can be ambiguous, they must be called together with their class name using a slash,
i.e. help map/set or
Drawing raw data
There are four data sets and five precooked experiments: atrium, bakery1 & bakery3 and sjursflat (beacons
and lines). First, try to draw the raw data, that is odometry and laser range data. Type
where you specify the set up file of an experiment ('atriumsetup') which contains all (!) model and algorithm parameters of an experiment, the start step (1) and, say, the first hundred steps.
Then the bakery experiments:
and finally the data set with beacons and lines:
Then, why not, try to do slam. Start with the smallest (fastest) experiments:
G = slam('bakery3setup',1,72,3);
G = slam('bakery1setup',1,160,3);
Besides the set up file of the experiment, the start step and the number of steps we also give a forth parameter,
the display mode. Three means that we want to show the local and the global map at each step. Then:
G = slam('sjursflatbeaconsetup',1,280,3);
Finally, the biggest experiments:
G = slam('sjursflatlinesetup',1,280,3);"
G = slam('atriumsetup',1,310,3);"
The resulting maps should be identical to the corresponding tiff-images which accompany each data set.
If you have a slow computer, just try the first two experiments or stop after, say, 50 steps.
The User Guide and Reference contains a description how to employ
the toolbox with your data sets, and how to configure the set up file
of an experiment.